Robtica I

Ingeniera en Mecatrnica
Nombre del
Estudiante:
Tarea:
Semestre:

Calificacin
Marvin Viviano Quiroz Baez
Ejercicio De Matrices Con Matlab
9

CASO 1
X=[1 0 0 0;0 cos(30) -sin(30) 0;0 sin(30) cos(30) 0;0 0 0 1]
X=
1.0000
0
0
0
0 0.1543 0.9880
0
0 -0.9880 0.1543
0
0
0
0 1.0000
>> Y=[cos(15) 0 sin(15) 0;0 1 0 0;-sin(15) 0 cos(15) 0;0 0 0 1]
Y=
-0.7597
0 0.6503
0
0 1.0000
0
0
-0.6503
0 -0.7597
0
0
0
0 1.0000
>> Z=[cos(22) -sin(22) 0 0;sin(22) cos(22) 0 0;0 0 1 0;0 0 0 1]
Z=
-1.0000 0.0089
0
0
-0.0089 -1.0000
0
0
0
0 1.0000
0
0
0
0 1.0000
>> T=[1 0 0 5;0 1 0 -2;0 0 1 8;0 0 0 1]
T=
1 0 0 5
0 1 0 -2
0 0 1 8
0 0 0 1
>> Tt=Z*T
Tt =
-1.0000 0.0089
0 -5.0175
-0.0089 -1.0000
0 1.9557
0
0 1.0000 8.0000
0
0
0 1.0000
>> Tt1=Tt*Y
Tt1 =
0.7597 0.0089 -0.6503 -5.0175
0.0067 -1.0000 -0.0058 1.9557
-0.6503
0 -0.7597 8.0000
0
0
0 1.0000

Docente: Enrique Jaime Leal

Robtica I
Ingeniera en Mecatrnica
>> Ttot=Tt1*X
Ttot =
0.7597 0.6438 -0.0916 -5.0175
0.0067 -0.1486 -0.9889 1.9557
-0.6503 0.7506 -0.1172 8.0000
0
0
0 1.0000

CASO 2
>> T=[1 0 0 12;0 1 0 0;0 0 1 9;0 0 0 1]
T=
1 0 0 12
0 1 0 0
0 0 1 9
0 0 0 1
>> U=[1 0 0 0;0 cos(18) -sin(18) 0;0 sin(18) cos(18) 0;0 0 0 1]
U=
1.0000
0
0
0
0 0.6603 0.7510
0
0 -0.7510 0.6603
0
0
0
0 1.0000
>> W=[cos(25) -sin(25) 0 0;sin(25) cos(25) 0 0;0 0 1 0;0 0 0 1]
W=
0.9912 0.1324
0
0
-0.1324 0.9912
0
0
0
0 1.0000
0
0
0
0 1.0000
>> T1=[1 0 0 8;0 1 0 4;0 0 1 2;0 0 0 1]
T1 =
1 0 0 8
0 1 0 4
0 0 1 2
0 0 0 1
>> Tt=T*U
Tt =
1.0000
0
0 12.0000
0 0.6603 0.7510
0
0 -0.7510 0.6603 9.0000
0
0
0 1.0000
>> Tt1=Tt*W
Tt1 =
0.9912 0.1324
0 12.0000
-0.0874 0.6545 0.7510
0
0.0994 -0.7444 0.6603 9.0000
0
0
0 1.0000

Docente: Enrique Jaime Leal

Robtica I
Ingeniera en Mecatrnica
>> Ttot=Tt1*T1
Ttot =
0.9912 0.1324
0 20.4590
-0.0874 0.6545 0.7510 3.4209
0.0994 -0.7444 0.6603 8.1383
0
0
0 1.0000

CASO 3
>> X=[1 0 0 0;0 cos(55) -sin(55) 0;0 sin(55) cos(55) 0;0 0 0 1]
X=
1.0000
0
0
0
0 0.0221 0.9998
0
0 -0.9998 0.0221
0
0
0
0 1.0000
>> Y=[cos(15) 0 sin(15) 0;0 1 0 0;-sin(15) 0 cos(15) 0;0 0 0 1]
Y=
-0.7597
0 0.6503
0
0 1.0000
0
0
-0.6503
0 -0.7597
0
0
0
0 1.0000
>> T=[1 0 0 5;0 1 0 5;0 0 1 -14;0 0 0 1]
T=
1 0 0 5
0 1 0 5
0 0 1 -14
0 0 0 1
>> Y1=[cos(-12) 0 sin(-12) 0;0 1 0 0;-sin(-12) 0 cos(-12) 0;0 0 0 1]
Y1 =
0.8439
0 0.5366
0
0 1.0000
0
0
-0.5366
0 0.8439
0
0
0
0 1.0000
>> T1=[1 0 0 12;0 1 0 5;0 0 1 8;0 0 0 1]
T1 =
1 0 0 12
0 1 0 5
0 0 1 8
0 0 0 1
>> Tt=T1*Y1
Tt =
0.8439
0 0.5366 12.0000
0 1.0000
0 5.0000
-0.5366
0 0.8439 8.0000
0
0
0 1.0000

Docente: Enrique Jaime Leal

Robtica I
Ingeniera en Mecatrnica
>> Tt1=Tt*T
Tt1 =
0.8439
0 0.5366 8.7072
0 1.0000
0 10.0000
-0.5366
0 0.8439 -6.4968
0
0
0 1.0000
>> Tt2=Tt1*Y
Tt2 =
-0.9900
0 0.1411 8.7072
0 1.0000
0 10.0000
-0.1411
0 -0.9900 -6.4968
0
0
0 1.0000
>> Ttot=Tt2*X
Ttot =
-0.9900 -0.1411 0.0031 8.7072
0 0.0221 0.9998 10.0000
-0.1411 0.9898 -0.0219 -6.4968
0
0
0 1.0000

Docente: Enrique Jaime Leal